version: 66.14
glider: 640
mission: 5
dive: 350
start: 1 21 119 13 29 13
data:
$ID,640
$MISSION,5
$DIVE,350
$N_DIVES,500
$STOP_T,1241912
$D_SURF,3
$D_FLARE,3
$D_TGT,350
$D_ABORT,420
$D_NO_BLEED,29
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,140
$T_MISSION,220
$T_ABORT,250
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,3600
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54260
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-5400
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,312
$PITCH_MAX,3939
$C_PITCH,2400
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,34
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3851
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2720
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-153.19165
$PRESSURE_SLOPE,0.000109596
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044042631
$SEABIRD_T_H,0.0006412621
$SEABIRD_T_I,2.6024412e-05
$SEABIRD_T_J,3.2462635e-06
$SEABIRD_C_G,-10.007382
$SEABIRD_C_H,1.1528281
$SEABIRD_C_I,-0.0017483447
$SEABIRD_C_J,0.0001971516
$SEABIRD_C_Z,2950.7202
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,210119,132331,-5957.6543,8.3046,12,0.8,41,-19.8,0.6,95.1,10,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.5
$GPS2,210119,132854,-5957.6704,8.4156,8,0.8,13,-19.8,0.9,24.6,10,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,224.3,42068,-15.5,-8.333,-18.82,2677
$D_GRID,350
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,11,-0.64,-146.0,229,2136,1797,1827,0.0,0.0,0,101,0.00,0.00,-88.03,0.000,16386,0.000,0.000,223,2135,3235,3318,3152,0,0,0,0,0,0,14.56,28.83,14.56,6.19,51.41
$GC,103,-0.64,-146.0,229,2135,3316,3152,3.6,-8.1,18,117,6.15,2.67,-2.97,0.000,18692,0.360,2.236,2168,3510,3317,3408,3226,0,0,0,0,0,0,14.01,13.31,14.36,6.31,49.56
$GC,247,-0.64,-146.0,2169,3511,3412,3226,29.7,-16.6,47,251,0.08,2.38,0.00,0.000,3078,0.363,0.041,2193,2093,3318,3411,3226,0,0,0,0,0,0,14.14,14.36,14.38,6.32,49.60
$GC,373,-0.64,-146.0,2193,2093,3412,3226,50.7,-16.2,72,376,0.00,2.42,0.00,0.000,2564,0.000,0.061,2193,690,3318,3411,3226,0,0,0,0,0,0,14.64,14.32,14.64,6.32,49.37
$GC,396,-0.64,-146.0,2193,691,3413,3227,54.5,-15.1,77,400,0.00,2.42,0.00,0.000,3078,0.000,0.057,2183,2105,3318,3411,3226,0,0,0,0,0,0,14.50,14.37,14.49,6.32,49.44
$GC,522,-0.64,-146.0,2183,2106,3412,3227,72.8,-14.7,102,526,0.00,2.45,0.00,0.000,2308,0.000,0.081,2173,3506,3318,3411,3226,0,0,0,0,0,0,14.64,14.35,14.68,6.32,49.48
$GC,592,-0.64,-146.0,2173,3506,3413,3226,83.4,-14.8,116,596,0.08,2.35,0.00,0.000,3078,0.358,0.042,2198,2093,3318,3411,3226,0,0,0,0,0,0,14.18,14.44,14.43,6.31,48.97
$GC,732,-0.64,-146.0,2198,2092,3419,3227,103.3,-14.7,141,735,0.00,2.42,0.00,0.000,516,0.000,0.063,2198,689,3319,3412,3226,0,0,0,0,0,0,14.71,14.41,14.71,6.32,49.01
$GC,782,-0.64,-146.0,2199,689,3413,3226,108.9,-14.3,143,785,0.00,2.42,0.00,0.000,3078,0.000,0.057,2188,2105,3318,3412,3225,0,0,0,0,0,0,14.55,14.42,14.57,6.31,48.42
$GC,1092,-0.64,-146.0,2188,2108,3412,3227,148.8,-11.8,159,1092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2107,3319,3412,3226,0,0,0,0,0,0,14.76,14.76,14.76,6.31,49.84
$GC,1392,-0.64,-146.0,2187,2107,3413,3222,182.3,-11.5,174,1392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2107,3318,3411,3226,0,0,0,0,0,0,14.79,14.79,14.79,6.33,51.37
$GC,1692,-0.64,-146.0,2189,2109,3412,3226,218.0,-12.0,189,1696,0.00,2.42,0.00,0.000,2564,0.000,0.062,2188,694,3318,3412,3224,0,0,0,0,0,0,14.81,14.49,14.81,6.33,51.26
$GC,1717,-0.64,-146.0,2188,693,3413,3225,220.5,-12.1,190,1721,0.05,2.40,0.00,0.000,3078,0.443,0.055,2192,2111,3319,3412,3226,0,0,0,0,0,0,14.25,14.50,14.52,6.33,51.06
$GC,2027,-0.64,-146.0,2193,2111,3412,3226,258.6,-12.2,206,2030,0.00,2.42,0.00,0.000,2308,0.000,0.083,2182,3508,3315,3405,3226,0,0,0,0,0,0,14.81,14.47,14.82,6.33,51.33
$GC,2076,-0.64,-146.0,2182,3508,3419,3226,263.6,-12.4,208,2081,0.00,2.33,0.00,0.000,3078,0.000,0.042,2181,2095,3319,3412,3226,0,0,0,0,0,0,14.65,14.53,14.66,6.33,51.22
$GC,2387,-0.64,-146.0,2181,2094,3412,3227,304.9,-13.1,224,2390,0.00,2.40,0.00,0.000,2564,0.000,0.063,2181,694,3319,3412,3226,0,0,0,0,0,0,14.83,14.50,14.83,6.33,51.37
$GC,2467,-0.64,-146.0,2182,694,3413,3225,315.2,-12.9,228,2470,0.08,2.38,0.00,0.000,3078,0.365,0.055,2195,2101,3319,3412,3226,0,0,0,0,0,0,14.27,14.52,14.52,6.34,51.06
$STATE,2765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2765,begin apogee
$GC,2770,-0.15,0.0,2195,2167,3412,3227,351.4,-12.0,243,2899,0.45,0.00,125.75,1.574,10246,0.259,0.000,2354,2166,2716,2776,2657,0,0,0,0,0,0,14.25,13.93,13.30,6.34,51.26
$STATE,2900,end apogee,CONTROL_FINISHED_OK
$STATE,2900,begin loiter
$GC,3187,-0.15,0.0,2354,2166,2773,2643,347.5,3.3,264,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2707,2772,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.55
$GC,3487,-0.15,0.0,2354,2167,2773,2643,338.1,3.1,279,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2707,2772,2642,0,0,0,0,0,0,14.71,14.72,14.72,6.29,50.90
$GC,3787,-0.15,0.0,2354,2166,2773,2640,329.5,2.8,294,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2706,2772,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.22
$GC,4087,-0.15,0.0,2354,2166,2773,2640,322.1,2.3,309,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2706,2772,2640,0,0,0,0,0,0,14.85,14.86,14.86,6.29,51.77
$GC,4387,-0.15,0.0,2354,2167,2772,2640,315.7,2.1,324,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2705,2771,2639,0,0,0,0,0,0,14.90,14.91,14.90,6.29,51.29
$GC,4687,-0.15,0.0,2354,2167,2771,2640,309.4,2.2,339,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2705,2772,2639,0,0,0,0,0,0,14.93,14.94,14.94,6.28,51.89
$GC,4987,-0.15,0.0,2354,2167,2772,2640,302.1,2.7,354,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2705,2772,2638,0,0,0,0,0,0,14.96,14.97,14.96,6.29,51.77
$GC,5287,-0.15,0.0,2353,2167,2772,2640,293.6,3.1,369,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2704,2771,2638,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.22
$GC,5587,-0.15,0.0,2354,2166,2773,2638,284.0,3.4,384,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2704,2772,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.22
$GC,5887,-0.15,0.0,2354,2166,2773,2638,273.3,3.6,399,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2705,2772,2638,0,0,0,0,0,0,15.01,15.02,15.02,6.29,51.22
$GC,6187,-0.15,0.0,2354,2166,2773,2638,262.9,3.4,414,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2705,2772,2638,0,0,0,0,0,0,15.02,15.03,15.02,6.28,51.61
$STATE,6485,end loiter,LOITER_COMPLETE
$STATE,6485,begin climb
$GC,6487,0.64,146.0,2354,2167,2772,2639,252.7,0.0,429,6627,0.60,2.60,130.50,1.423,11012,0.173,0.063,2604,747,2117,2141,2094,0,0,0,0,0,0,14.53,14.00,13.43,6.28,52.04
$GC,6677,0.64,146.0,2604,747,2135,2088,240.0,9.1,438,6680,0.00,2.42,0.00,0.000,1030,0.000,0.053,2604,2136,2111,2135,2088,0,0,0,0,0,0,14.18,14.12,14.23,6.24,49.25
$GC,6987,0.64,146.0,2605,2137,2132,2080,204.7,10.8,454,6990,0.00,2.53,0.00,0.000,260,0.000,0.082,2604,3556,2109,2130,2089,0,0,0,0,0,0,14.59,14.26,14.59,6.24,50.31
$GC,7066,0.64,146.0,2605,3557,2131,2079,196.8,10.7,458,7070,0.00,2.35,0.00,0.000,5126,0.000,0.042,2614,2152,2106,2130,2083,0,0,0,0,0,0,14.45,14.33,14.47,6.24,50.74
$GC,7382,0.64,146.0,2615,2152,2129,2076,159.3,12.3,474,7386,0.00,2.45,0.00,0.000,4612,0.000,0.067,2625,744,2101,2127,2076,0,0,0,0,0,0,14.71,14.39,14.71,6.24,50.86
$GC,7442,0.64,146.0,2626,740,2126,2078,152.2,11.9,477,7446,0.08,2.40,0.00,0.000,5126,0.322,0.055,2599,2157,2101,2126,2076,0,0,0,0,0,0,14.23,14.42,14.48,6.24,51.57
$GC,7762,0.64,146.0,2600,2158,2126,2077,115.4,11.5,493,7765,0.00,2.45,0.00,0.000,2308,0.000,0.083,2599,3553,2100,2125,2075,0,0,0,0,0,0,14.77,14.42,14.77,6.23,51.61
$GC,7806,0.64,146.0,2600,3553,2127,2076,111.1,12.0,495,7811,0.00,2.33,0.00,0.000,5126,0.000,0.043,2608,2150,2100,2125,2075,0,0,0,0,0,0,14.59,14.45,14.61,6.24,50.94
$GC,8112,0.64,146.0,2609,2150,2125,2076,79.9,8.7,540,8115,0.00,2.45,0.00,0.000,4612,0.000,0.065,2619,737,2100,2125,2075,0,0,0,0,0,0,14.79,14.46,14.80,6.22,50.66
$GC,8142,0.64,146.9,2620,736,2124,2075,77.4,8.3,546,8146,0.00,2.40,0.00,0.000,5126,0.000,0.054,2620,2158,2099,2123,2075,0,0,0,0,0,0,14.62,14.49,14.64,6.22,50.23
$GC,8268,0.65,153.7,2620,2159,2124,2074,67.4,8.1,571,8272,0.00,2.45,0.00,0.000,4356,0.000,0.083,2620,3556,2099,2123,2075,0,0,0,0,0,0,14.78,14.45,14.78,6.22,49.72
$GC,8291,0.65,153.7,2620,3557,2124,2076,65.3,9.0,576,8296,0.08,2.35,0.00,0.000,5126,0.346,0.044,2604,2140,2099,2123,2075,0,0,0,0,0,0,14.28,14.51,14.52,6.22,49.80
$GC,8418,0.65,153.7,2604,2141,2124,2075,54.7,8.5,601,8422,0.00,2.42,0.00,0.000,516,0.000,0.066,2614,741,2098,2123,2074,0,0,0,0,0,0,14.78,14.47,14.79,6.21,49.33
$GC,8527,0.65,153.7,2615,741,2122,2074,45.2,8.9,623,8530,0.00,2.38,0.00,0.000,5126,0.000,0.052,2614,2151,2097,2122,2073,0,0,0,0,0,0,14.62,14.50,14.64,6.21,50.15
$GC,8653,0.65,153.7,2614,2151,2123,2073,33.1,10.0,648,8657,0.00,2.45,0.00,0.000,4356,0.000,0.084,2614,3553,2097,2122,2073,0,0,0,0,0,0,14.79,14.45,14.80,6.21,50.00
$GC,8692,0.65,153.7,2614,3554,2123,2073,28.9,10.5,656,8696,0.05,2.33,0.00,0.000,5126,0.418,0.043,2607,2149,2097,2122,2073,0,0,0,0,0,0,14.27,14.52,14.52,6.21,50.35
$GC,8818,0.65,153.7,2608,2150,2123,2072,16.8,9.4,681,8822,0.00,2.42,0.00,0.000,516,0.000,0.065,2617,743,2098,2122,2075,0,0,0,0,0,0,14.79,14.47,14.80,6.21,50.90
$GC,8882,0.65,153.7,2618,743,2123,2072,10.9,9.1,694,8886,0.00,2.38,0.00,0.000,5126,0.000,0.053,2617,2151,2096,2121,2072,0,0,0,0,0,0,14.63,14.50,14.64,6.21,50.31
$STATE,8965,end climb,SURFACE_DEPTH_REACHED
$STATE,8965,begin surface coast
$STATE,8996,end surface coast,CONTROL_FINISHED_OK
$STATE,8996,begin surface
$SM_CCo,9010,66.00,0.242,0,0,1821,220.03
$SM_GC,1.34,5.53,0.08,66.00,0.070,0.163,0.242,271,2078,1821,-6.45,1.02,220.03,0,0,0,0,0,0,14.64,14.54,14.24
$IRIDIUM_FIX,-5959.30,8.61,210119,105319
$TT8_MAMPS,0.03745,0.282373
$HUMID,50.23
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3741664
$24V_AH,13.30,69.047
$10V_AH,13.41,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,13.200,77.600,256.250,66.000,0.000,26.600,20.601,125.863,0.000,0.000,15.148,0.000,7200.181,418.764,1601.202,179.784,0.000,1048.045,0.000,1158.997,0.000,0.539,0.000
$DEVICE_MAMPS,442.935,2236.095,1573.605,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5414.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.659,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,20759,717
$CAP_FILE_SIZE,92796,0
$CFSIZE,1023623168,985071616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.019,110.74,1
$GPS,210119,160131,-5958.065,8.260,14,0.8,37,-19.8,0.7,16.5,10,8.3